Multi-step limit cycle generation for Rabbit's walking based on nonlinear low dimensional predictive control scheme

Ahmed Chemori (1) , Mazen Alamir (1)

1 LAG - Laboratoire d'automatique de Grenoble

In this paper, a new nonlinear predictive control scheme is proposed for a five-links planar under-actuated biped walking robot.The basic feature in the proposed strategy is to use on-line optimization to update the tracked trajectories in the completely controlled variables (actuated coordinates). The stability issue is discussed using the Poincaré's section tool leading to a computable criterion that enables the stability of the overall scheme to be investigated as well as the computation of a candidate region of attraction. The whole framework is illustrated through simulation cases-studies. To attest the effciiency of the proposed scheme, robustness against model uncertainties and ground irregularities are investigated by simulation studies.

Mots clés: Nonlinear optimization; Rabbits; Biped; Limit cycles; Predictive control; Dynamic walking

Domaines: Optimisation et contrôle [math.OC]

Ahmed Chemori, Mazen Alamir. Multi-step limit cycle generation for Rabbit's walking based on nonlinear low dimensional predictive control scheme. Mechatronics, 2006, 16 (5), pp.259-277. ⟨10.1016/j.mechatronics.2005.12.001⟩. ⟨hal-00083873⟩